Method and apparatus for the shielded relocation of a nuclear component

ABSTRACT

A nuclear component transfer device that incorporates a shielded canister into the mast design of a conventional nuclear refueling machine. A moveable mast telescopes within a stationary mast which is attached to a bridge for lateral positioning. The canister allows for the addition of shielding that is positioned with the movement of the moveable mast without additional motorized components to deploy the shielding during nuclear component movement. The nuclear component is drawn up into the shielded canister as the moveable mast lifts the nuclear component. The nuclear component is then placed into a transfer cart that is also fitted with a shielded canister. The transfer is made without exposing the nuclear components resulting in completely shield movement.

BACKGROUND

1. Field

This invention relates generally to nuclear reactor systems, and inparticular, to a method and apparatus for refueling a nuclear reactor.

2. Description of Related Art

A pressurized water reactor has a large number of elongated fuelassemblies mounted within an upright reactor vessel. Pressurized coolantis circulated through the fuel assemblies to absorb heat generated bynuclear reactions in fissionable material contained in the fuelassemblies. The primary side of such a nuclear reactor power generatingsystem which is cooled with water under pressure comprises an enclosedcircuit which is isolated from and in heat exchange relationship with asecondary circuit for the production of useful energy. The primary sidecomprises the reactor vessel enclosing a core a pressurizer, pumps andpipes for circulating pressurized water; the pipes connecting each ofthe steam generators and pumps to the reactor vessel independently. Inconventional nuclear plants of that type each of the parts of theprimary side comprising the steam generator, a pump and a system ofpipes which are connected to the reactor vessel form a loop of theprimary side.

For the purpose of illustration, FIG. 1 shows a simplified conventionalnuclear reactor primary system, including a generally cylindricalpressure vessel 10 having a closure head 12 enclosing a nuclear core 14.A liquid coolant, such as water or borated water, is pumped into thevessel 10 by pumps 16 through the core 14 where heat energy is absorbedand is discharged to a heat exchanger 18, typically referred to as asteam generator, in which heat is transferred to a utilization circuit(not shown), such as a steam driven turbine generator. The reactorcoolant is then returned to the pump 16, completing the primary loop.Typically, a plurality of the above described loops are connected to asingle reactor vessel 10 by reactor coolant piping 20.

An exemplary conventional reactor design is shown in more detail in FIG.2. In addition to the core 14 comprised of a plurality of parallel,vertically co-extending fuel assemblies 22, for the purpose of thisdescription, the other vessel internal structures can be divided intothe lower internals 24 and the upper internals 26. In conventionaldesigns, the lower internals function to support, align and guide corecomponents and instrumentation as well as direct flow within the vessel.The upper internals restrain or provide a secondary restraint for thefuel assemblies 22 (only two of which are shown for simplicity in FIG.2), and support and guide instrumentation and components, such ascontrol rods 28. In the exemplary reactor shown in FIG. 2, coolantenters the reactor vessel through one or more inlet nozzles 30, flowsdown through an annulus between the reactor vessel and the core barrel32, is turned 180° in a lower plenum 34, passes upwardly to a lowersupport plate 37 and a lower core plate 36 upon which the fuelassemblies are seated and through and about the fuel assemblies 22. Insome designs, the lower support plate 37 and the lower core plate 36 arereplaced by a single structure, a lower core support plate having thesame elevation as 37. The coolant flow through the core and surroundingarea 38 is typically large on the order of 400,000 gallons per minute ata velocity of approximately 20 feet per second. The resulting pressuredrop and frictional forces tend to cause the fuel assemblies to rise,which movement is restrained by the upper internals, including acircular upper core plate 40. Coolant exiting the core 14 flows alongthe underside of the upper core plate and upwardly through a pluralityof perforations 42. The coolant then flows upwardly and radially to oneor more outlet nozzles 44.

The upper internals 26 can be supported from the vessel or the vesselhead and include an upper support assembly 46. Loads are transmittedbetween the upper support assembly 46 and the upper core plate 40primarily by a plurality of support columns 48. Each support column isaligned above a selected fuel assembly 22 and perforations 42 in theupper core plate 40.

Rectilinearly moveable control rods 28 which typically include a driveshaft or drive rod 50 and a spider assembly 52 of neutron poison rods,are guided through the upper internals 26 and into aligned fuelassemblies 22 by control rod guide tubes 54. The guide tubes are fixedlyjoined to the upper support assembly 46 and the top of the upper coreplate 40. The support column 48 arrangement assists in retarding guidetube deformation under accident conditions which could detrimentallyaffect control rod insertion capability.

To control the fission process, a number of control rods 28 arereciprocally moveable in guide thimbles located at predeterminedpositions in the fuel assemblies 22. Specifically, a control rodmechanism positioned above the top nozzle of the fuel assembliessupports a plurality of control rods. The control rod mechanism (alsoknown as a rod cluster control assembly) has an internally threadedcylindrical hub member with a plurality of radial extending flukes orarms that form the spider 52 previously noted with regard to FIG. 2.Each arm is interconnected to a control rod 28 such that the control rodassembly mechanism 72 is operable to move the control rods 28 verticallywithin the guide thimbles within the fuel assemblies to thereby controlthe fission process in the fuel assembly 22, under the motive power ofthe control rod drive shaft 50 which is coupled to the control rodmechanism hub, all in a well known manner.

The upper internals 26 also have a number of in-core instrumentationthat extend through axial passages within the support columns 48 andinto instrumentation thimbles generally, centrally located within thefuel assemblies. The in-core instrumentation typically includes athermocouple for measuring the coolant core exit temperature and axiallydisposed neutron detectors for monitoring the axial and radial profileof neutron activity within the core.

Nuclear power plants, which employ light water reactors require periodicoutages for refueling of the reactor. New fuel assemblies are deliveredto the plant and temporarily stored in a fuel storage building, alongwith used fuel assemblies which may have been previously removed fromthe reactor. During a refueling outage, a portion of the fuel assembliesin the reactor are moved from the reactor to the fuel storage building.A second portion of the fuel assemblies are moved from one supportlocation in the reactor to another core support location in the reactor.New fuel assemblies are moved from the fuel storage building into thereactor to replace those fuel assemblies which were removed. Thesemovements are done in accordance with a detailed sequence plan so thateach fuel assembly is placed in a specific location in accordance withan overall refueling plan prepared by the reactor core designer. Inconventional reactors, the removal of the reactor internal componentsnecessary to access the fuel and the movement of the new and old fuelbetween the reactor and the spent fuel pool in the fuel storage buildingis performed under water to shield the plant maintenance personnel. Thisis accomplished by raising the water level in the refueling cavity andcanal that is integral to the plant's building structure. The waterlevel of more than 20 feet provides shielding for the movement of thereactor internal structures and the fuel assemblies.

Refueling activities are often on a critical path for returning thenuclear plant to power operation, therefore, the speed of theseoperations is an important economic consideration for the power plantowner. Furthermore, the plant equipment and fuel assemblies areexpensive and care must be taken not to cause damage or unnecessaryradiation exposure due to improper handling of the reactor componentsthat have to be removed to access the fuel assemblies, the fuelassemblies or fuel transfer equipment. The precision of these operationsis also important since the safe and economical operation of the reactorcore depends upon each fuel assembly being in its proper location. Atypical pressurized water reactor needs to be refueled every 18 to 24months.

Commercial power plants employing the conventional designs generallyillustrated in FIGS. 1 and 2 are typically on the order of 1,100megawatts or more. More recently, Westinghouse Electric Company LLC hasproposed a small modular reactor in the 200 megawatt class. The smallmodular reactor is an integral pressurized water reactor with allprimary loop components located inside the reactor vessel. The reactorvessel is surrounded by a compact, high pressure containment. Due toboth limited space within the containment and the low cost requirementfor integral pressurized light water reactors, the overall number ofauxiliary systems including those associated with refueling needs to beminimized without compromising safety or functionality. For example, thecompact high pressure containment associated with the design of somesmall modular reactors does not allow for the incorporation of a largefloodable cavity above the reactor vessel in which the transferredcomponents can be shielded. Even in conventional designs, it would bedesirable to reduce the amount of flooding required for refueling tosave time and the expense of the operation.

Accordingly, it is an object of this invention to provide a method andapparatus for shielding the movement of a fuel assembly that does notrequire flooding of the containment.

It is a further object of this invention to provide such a method andapparatus that does not require the addition of motorized components todeploy shielding during fuel movement.

It is an additional object of this invention to provide such a methodand apparatus which practically does not require additional storagespace over that currently required.

SUMMARY

These and other objects are achieved by a machine for moving a nuclearplant component from a first location to another that has a bridgeassembly for positioning the machine over the nuclear plant component tobe moved. A stationary mast is supported from the bridge assembly at afirst end and extends down from the bridge assembly in the direction ofthe nuclear plant component. A moveable mast is telescopically nestedwithin the stationary mast and configured to extend from the stationarymast and retract within the stationary mast under the control of anoperator. A mast shield canister has an axially extending centralopening through which the moveable mast can extend. The mast shieldcanister has an upper end portion and a lower end portion with a firststop on the upper end portion of the mast shield canister and/or on alower end of the moveable mast preventing the lower end of the moveablemast from withdrawing out of the upper end portion of the mast shieldcanister. A second stop is provided on either or both the stationarymast or the mast shield canister that prevents the mast shield canisterfrom moving more than a preselected distance from the stationary mast;the mast shield canister being sized at least to fit over substantiallythe full length of the nuclear plant component. A gripper assembly issupported at a lower end of the moveable mast and is configured to gripthe nuclear plant component through the lower end portion of the mastshield canister. Preferably, the preselected distance is substantiallylong enough to place the mast shield canister on top of the nuclearplant component.

In one embodiment the first stop comprises a first set of rollerscircumferentially supported around an inner wall of the central openingon the upper end portion of the mast shield canister, that is at leastin part in axial and circumferential alignment with a second set ofrollers on the lower end of the moveable mast, below the first set ofrollers. Preferably the second stop is a rod or cable attached to theupper end portion of the mast shield canister at a first end of the rodor cable and slidably coupled to the stationary mast at a second endportion of the rod or cable through an opening in an eyelet or tube thatis affixed to the stationary mast with a second end of the second endportion of the rod or cable being larger than the opening in the eyeletor tube. Desirably, the mast shield canister is configured so that adownward movement of the mast shield canister relative to the moveablemast is powered solely under the force of gravity and an upward movementof the mast shield canister relative to the stationary mast is solelyunder the power of the moveable mast.

The machine may also include a transfer cart having a moveable platformfor moving the nuclear plant component from a first location to a secondlocation. The transfer cart has a transfer cart shield canister having acentral opening substantially completely enclosed by a shield wallsystem except for an open end providing access to the central openingwith the central opening being sized to substantially enclose thenuclear plant component. The transfer cart also includes a rotatablecoupling between the moveable platform and the transfer cart shieldcanister for rotating the transfer can shield canister from a generallyhorizontal position, where the nuclear plant component within thetransfer cart shield canister is on its side, to a generally verticalposition, where the open end is facing substantially in an upwarddirection to face the gripper assembly, and back to the horizontalposition.

In another embodiment, the central opening in the transfer cart shieldcanister substantially matches the central opening through the mastshield canister and the gripper assembly is configured to extend throughthe lower end portion of the mast shield canister into the centralopening of the transfer cart shield canister to place the nuclear plantcomponent within the transfer cart shield canister.

The invention also contemplates a method for relocating the nuclearplant component with the machine described above including the step ofmoving the bridge assembly to position the machine over the nuclearplant component to be relocated with the gripper assembly aligned withthe nuclear plant component. Then the moveable mast is moved downwardwith the mast shield canister suspended below the gripper. The methodthen supports the lower end portion of the mast shield canister abovethe nuclear plant component with the nuclear plant component in linewith the central opening through which the moveable mast can extend. Themoveable mast is then lowered through the central opening and thegripper assembly engages on a top surface of the nuclear plantcomponent. The method then raises the moveable mast to withdraw themoveable mast and the nuclear plant component upward within the centralopening and moves the bridge assembly to position the nuclear plantcomponent at a new location. The method may also include the steps oflowering the moveable mast at the new location; disengaging the gripperassembly from the nuclear plant component; and raising the moveablemast.

In still another embodiment the new location is a transfer cartcomprising a moveable platform for transporting the nuclear plantcomponent; wherein the moveable platform has a transfer cart shieldcanister with a central opening substantially completely enclosed by ashield wall system except for an open end providing access to thecentral opening, with the central opening being sized to substantiallyenclose the nuclear plant component; and a rotatable coupling betweenthe moveable platform and the transfer cart shield canister for rotatingthe transfer cart shield canister from a generally horizontal positionwhere the nuclear plant component within the transfer cart shieldcanister is on a side, to a vertical position, where the open end isfacing substantially in an upward direction to face the gripperassembly, and back to a horizontal position. In this embodiment, themethod includes the step of rotating the rotatable couplings so that thetransfer cart shield canister is in the vertical position. Then themethod lowers the moveable mast so a lower end of the mast shieldcanister substantially rests on a top surface of the shield wall system.Then the method lowers the moveable mast through the central opening inthe mast shield canister to lower the nuclear plant component within theopening in the shield wall system. The gripper assembly is thendisengaged from the nuclear plant component and the moveable mast israised. Preferably, the transfer cart shield canister is then rotated toa horizontal position and transported to a new destination. Desirably,in this embodiment, the step of raising the moveable mast afterdisengaging the gripper assembly includes the step of raising the mastshield canister so that an upper end of the mast shield canistersubstantially rests against the lower end of the stationary mast.

The foregoing apparatus and method is particularly suited for movingnuclear fuel assemblies between a reactor and a spent fuel pool.

BRIEF DESCRIPTION OF THE DRAWINGS

A further understanding of the invention can be gained from thefollowing description of the preferred embodiments when read inconjunction with the accompanying drawings in which:

FIG. 1 is a simplified schematic of a conventional nuclear reactorsystem to which the embodiments described hereafter can be applied;

FIG. 2 is an elevational view, partially in section, of a nuclearreactor vessel and internal components to which the embodimentsdescribed hereafter can be applied;

FIG. 3 is a sectional view of the refueling machine of one embodiment ofthis invention positioned above a fuel assembly;

FIG. 4 is a sectional view of the refueling machine shown in FIG. 3 withthe moveable mast lowered until shielding stops engage;

FIG. 5 is a sectional view of the refueling machine shown in FIGS. 3 and4 with the moveable mast lowered to the fuel assembly and gripperengaged;

FIG. 6 is a sectional view of the refueling machine shown in FIGS. 3, 4and 5 with the moveable mast and the fuel assembly raised until the fuelassembly is within the shield;

FIG. 7 is a sectional view of the refueling machine of FIGS. 3, 4, 5 and6 with the moveable mast and fuel assembly raised until the shieldengages with the stationary mast;

FIG. 8 is a sectional view of the refueling machine shown in FIGS. 3, 4,5, 6 and 7 showing the moveable mast positioned above a shieldedcanister of a transfer cart;

FIG. 9 is a sectional view of the refueling machine of FIGS. 3, 4, 5, 6,7 and 8 showing the fuel assembly lowered into the shielded canister onthe transfer cart;

FIG. 10 is a sectional view of the fuel transfer machine shown in FIG. 9with the gripper released and moveable mast raised; and

FIG. 11 is a sectional view of the refueling machine and transfer cartshown in FIG. 10 with the transfer cart shielded canister rotated to ahorizontal position for transport through a transfer tube.

DESCRIPTION OF THE PREFERRED EMBODIMENT

This invention provides a practical means to incorporate gamma radiationshielding into the mast of a refueling machine. A shielded canister isincorporated into the mast design. The shielded canister is raised andlowered with a mast similar in design to those already in use inpressurized water reactor plants. The moveable mast telescopes within astationary mast. The stationary mast is attached to a conventionalbridge of the refueling machine. The invention allows for the additionof shielding that is positioned with the movement of the moveable mast.It does not require the addition of motorized components to deploy theshielding during fuel movement. The fuel is drawn up into the shieldedcanister as the moveable mast lifts the fuel assembly from the reactorcore. The fuel assembly is then placed into a transfer cart which isalso fitted with a shielded canister. The transfer is made withoutexposing the fuel assembly. The result is completely shielded fuelmovement. The shielded material employed in the mast and the fueltransfer cart could be any high density material that is typically usedto shield gamma radiation, e.g., concrete, etc.

FIG. 3 shows a schematic cross sectional view of one embodiment of thefuel transfer machine 56 with a bridge assembly 58 for positioning themachine over the fuel assembly 22 to be moved. A stationary mast 60 issupported from the bridge assembly 58 at a first end and extends downfrom the bridge assembly in the direction of the fuel assembly 22. Amoveable mast 62 is telescopingly nested within the stationary mast 60and configured to extend from the stationary mast and retract within thestationary mast under the control of an operator (not shown). To thatextent, the refueling machine illustrated in FIG. 3 is substantiallyconventional with the bridge assembly riding on wheels that are guidedon tracks on the operating deck of a nuclear plant. In accordance withthis embodiment, the mast shield canister 64 has an axially extendingcentral opening 102 through which the moveable mast can extend and issuspended from a lower end of the moveable mast 62 during the mastshield canister's travel downward. The mast shield canister 64 has anupper end portion, with a first stop 68 on the upper end portion of themast shield canister 64 and/or on a lower end of the moveable mast 62preventing the lower end of the moveable mast from withdrawing out ofthe upper end portion 104 of the mast shield canister 64 and a secondstop 70 on either or both the stationary mast 60 or the mast shieldcanister 64 that prevents the mast shield canister from moving more thana preselected distance from the stationary mast. The mast shieldcanister 64 is sized at least to fit over substantially the full lengthof the nuclear component. A gripper assembly 82 is supported at a lowerend of the moveable mast 62 and is configured to grip the nuclear plantcomponent (in this example a fuel assembly) through the lower endportion 104 of the mast shield canister 64. The first stop 68illustrated in the embodiments shown in FIGS. 3-11 comprises a first setof rollers 78 circumferentially supported around an inner wall of thecentral opening 102 on the upper end portion 104 of the mast shieldcanister 64, that is at least in part in axial and circumferentialalignment with a second set of rollers 80 on the lower end of themoveable mast 62, below the first set of rollers 78. The roller guidesensure lateral alignment while allowing the moveable mast 62 to move upand down. The rollers can ride in axial grooves to assure rotationalstability. The interference of the rollers 78 and 80 prevents the mastshield canister from leaving the end of the moveable mast 62. However, amechanical release can be provided for the rollers 78 so they canwithdraw into their socket and release the mast shield canister 64 fromthe moveable mast 62 so it can be exchanged for corresponding mastshield canisters having other interior dimensions that will accommodateother core components that need to be removed from the reactor vessel.Accordingly, though the nuclear component transfer device shown in FIGS.3-11 is illustrated in a configuration to transfer fuel assemblies, itshould be appreciated that this invention has applicability to transferother nuclear components as well. Additionally, the mast shield canister64 illustrated in the figures is also shown to have an upper flange 110which can also serve as a mechanical stop against the gripper 82 at theend of the moveable mast 62 to prevent the mast from being withdrawnentirely from the central opening 102. Other mechanical stops can alsobe configured for this purpose. A similar stop arrangement is providedbetween the stationary mast 60 and the moveable mast 62 to prevent themoveable mast 62 from being completely withdrawn from the stationarymast 60. A second mechanical stop 70 is configured between the upperportion 104 of the mast shield canister 64 and the lower end of thestationary mast 60. The second mechanical stop is a rod or cable 84 thatis threaded through an eyelet or sleeve 88 that is attached to theoutside of the lower end of the stationary mast 60. The cable or rod 84is attached to the upper end portion 104 of the mast shield canister 64at a first end of the rod or cable and slidably coupled to thestationary mast 60 at the second end portion of the rod or cable 84through an opening in the eyelet or tube 88 with an end portion 86 ofthe rod or cable being larger than the opening in the eyelet or tube 88so that the mast shield canister 64 can be lowered a preselecteddistance which in this embodiment is substantially equal to the lengthof the cables 84.

As can be seen in FIG. 4 as the moveable mast 62 is lowered, the mastshield canister 64 lowers under the force of gravity against the stop 68until the limit of the stop 70 is reached. Desirably, the length of thecables 84 are long enough to place the central opening 102 at the lowerend of the mast shield canister 64 right over the fuel assembly 22 asshown in FIG. 4. Then the moveable mast 62 continues traveling downwarduntil the gripper assembly can engage the fuel assembly 22 as shown inFIG. 5. Desirably, the length of the central opening 102 below thecompletely withdrawn gripper assembly is at least substantially equal tothe height of the fuel assembly 22 so the fuel assembly can be totallywithdrawn within the mast shield canister 64 as the moveable mast 62 israised after the fuel assembly has been engaged, as shown in FIG. 6.Then the lower end of the moveable mast 62 engages the first stop 68 andraises the mast shield canister 64 into engagement with the lower end ofthe stationary mast 60 as shown in FIG. 7. Thus, the fuel assembly 22can be removed from the reactor core, or from the spent fuel pool, asthe case may be, completely shielded within the mast shield canister 64and the bridge assembly can then be moved to a fuel transfer cart thatcan move the fuel assembly between the reactor and the spent fuel pool.

FIGS. 8-11 illustrate the reverse operation where the fuel assembly isloaded into a transfer cart 90 for transport between the reactor and thespent fuel pool. The bridge assembly 58 positions the mast shieldcanister 64 over a transfer cart shield canister 92 having a centralopening 100 substantially completely enclosed by a shield wall system96, except for an open end 98 providing access to the central opening.The central opening is sized to substantially enclose the nuclear fuelassembly 22 and the transfer cart is connected to a moveable platform 93through a rotatable coupling 94. The rotatable coupling rotates thetransfer cart shield canister 92 from a generally horizontal position,where the nuclear fuel assembly within the transfer cart shield canisteris on a side, to a generally vertical position, as shown in FIG. 8,where the open end 98 is facing substantially in an upward direction toface the gripper assembly 82. Desirably, the central opening 100 in thetransfer cart shield canister 92 substantially matches the centralopening 102 through the mast shield canister 64 and the gripper assembly82 is configured to extend through the lower end portion of the mastshield canister into the central opening 100 of the transfer cart shieldcanister 92 to seat the nuclear fuel assembly 22 within the transfercart shield canister as shown in FIG. 9. The moveable mast 62 is thenraised as shown in FIG. 10, preferably to rest the top of the mastshield canister 64 against the bottom of the stationary mast 60. Thetransfer cart shield canister 92 is then rotated to a horizontalposition for transport as shown in FIG. 11.

While specific embodiments of the invention have been described indetail, it will be appreciated by those skilled in the art that variousmodifications and alternatives to those details could be developed inlight of the overall teachings of the disclosure. Accordingly, theparticular embodiments disclosed are meant to be illustrative only andnot limiting as to the scope of the invention which is to be given thefull breadth of the appended claims and any and all equivalents thereof.

What is claimed is:
 1. A machine for moving a nuclear plant component from a first location to another comprising: a bridge assembly for positioning the machine over the nuclear plant component to be moved; a stationary mast supported from the bridge assembly at a first end and extending down from the bridge assembly in a direction of the nuclear plant component; a moveable mast, telescopingly nested within the stationary mast and configured to extend from the stationary mast and retract within the stationary mast under the control of an operator; a mast shield canister having an axially extending central opening through which the moveable mast can extend, the mast shield canister having an upper end portion and a lower end portion, with a first stop on the upper end portion of the mast shield canister and/or on a lower end of the moveable mast preventing the lower end of the moveable mast from withdrawing out of the upper end portion of the mast shield canister and a second stop on either or both the stationary mast or the mast shield canister that prevents the mast shield canister from moving more than a preselected distance from the stationary mast, the mast shield canister being sized at least to fit over substantially the full length of the nuclear plant component; and a gripper assembly supported at a lower end of the moveable mast and is configured to grip the nuclear plant component through the lower end portion of the mast shield canister.
 2. The machine of claim 1 wherein the preselected distance is substantially long enough to place the mast shield canister on top of the nuclear plant component.
 3. The machine of claim 1 wherein the first stop comprises a first set of rollers circumferentially supported around an inner wall of the central opening on the upper end portion of the mast shield canister, that is at least in part in axial and circumferential alignment with a second set of rollers on the lower end of the moveable mast, below the first set of rollers.
 4. The machine of claim 1 wherein the second stop is a rod or cable attached to the upper end portion of the mast shield canister at a first end of the rod or cable and slidably coupled to the stationary mast at a second end portion of the rod or cable through an opening in an eyelet or tube that is affixed to the stationary mast with a second end of the second end portion of the rod or cable being larger than the opening in the eyelet or tube.
 5. The machine of claim 1 wherein the mast shield canister is configured so that a downward movement of the mast shield canister relative to the moveable mast is powered solely under the force of gravity and an upward movement of the mast shield canister relative to the stationary mast is solely under the power of the moveable mast.
 6. The machine of claim 1 including a transfer cart comprising; a moveable platform for moving the nuclear plant component from a first location to a second location; a transfer cart shield canister having a central opening substantially completely enclosed by a shield wall system except for an open end providing access to the central opening, the central opening being sized to substantially enclose the nuclear plant component; and a rotatable coupling between the moveable platform and the transfer cart shield canister for rotating the transfer cart shield canister from a generally horizontal position, where the nuclear plant component within the transfer cart shield canister is on a side, to a generally vertical position where the open end is facing substantially in an upward direction to face the gripper assembly, and back to the horizontal position.
 7. The machine of claim 6 wherein the central opening in the transfer cart shield canister substantially matches the central opening through the mast shield canister and the gripper assembly is configured to extend through the lower end portion of the mast shield canister into the central opening of the transfer cart shield canister to place the nuclear plant component within the transfer cart shield canister.
 8. The machine of claim 1 wherein the nuclear component is a nuclear fuel assembly.
 9. The machine of claim 1 wherein the mast shield canister is configured to be detachable from the moveable mast and replaced with a second mast shield canister of a different dimension sized to accommodate a second nuclear component therein of a corresponding dimension.
 10. A method for relocating the nuclear plant component with the machine of claim 1 comprising the steps of: moving the bridge assembly to position the machine over the nuclear plant component to be relocated with the gripper assembly aligned with the nuclear plant component; moving the moveable mast downward with the mast shield canister suspended below the gripper; supporting the lower end portion of the mast shield canister above the nuclear plant component with the nuclear plant component in line with the central opening through which the moveable mast can extend; lowering the moveable mast through the central opening; engaging the gripper assembly on a top surface of the nuclear plant component; raising the moveable mast to withdraw the moveable mast and the nuclear plant component upward within the central opening; and moving the bridge assembly to position the nuclear plant component at a new location.
 11. The method of claim 10 including the steps of: lowering the moveable mast at the new location; disengaging the gripper assembly from the nuclear plant component; and raising the moveable mast.
 12. The method of claim 10 wherein the new location is a transfer cart comprising a moveable platform for transporting the nuclear plant component, the moveable platform having a transfer cart shield canister with a central opening substantially completely enclosed by a shield wall system except for an open end providing access to the central opening, the central opening being sized to substantially enclose the nuclear plant component, and a rotatable coupling between the moveable platform and the transfer cart shield canister for rotating the transfer cart shield canister from a generally horizontal position, where the nuclear plant component within the transfer cart shield canister is on a side, to a vertical position, where the open end is facing substantially in an upward direction to face the gripper assembly, and back to the horizontal position comprising the steps of: rotating the rotatable coupling so that the transfer cart shield canister is in the vertical position; lowering the moveable mast so a lower end of the mast shield canister substantially rests on a top surface on the shield wall system; lowering the moveable mast through the central opening in the mast shield canister to lower the nuclear plant component within the opening in the shield wall system; disengaging the gripper assembly from the nuclear plant component; and raising the moveable mast.
 15. The method of claim 14 further including the steps of: rotating the rotatable coupling so that the transfer cart shield canister is in the horizontal position; and transporting the transfer cart to a new destination.
 16. The method of claim 11 wherein the step of raising the moveable mast after disengaging the gripper assembly includes the step of raising the mast shield canister so that an upper end of the mast shield canister substantially rests against the lower end of the stationary mast. 